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Effects of Dynamic Model Errors in Task-Priority Operational Space Control

Published online by Cambridge University Press:  01 February 2021

Paolo Di Lillo Open the ORCID record for Paolo Di Lillo [Opens in a new window] ,
Gianluca Antonelli  and
Ciro Natale
Paolo Di Lillo*
Affiliation:
Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy. E-mail: antonelli@unicas.it
Gianluca Antonelli
Affiliation:
Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy. E-mail: antonelli@unicas.it
Ciro Natale
Affiliation:
Dipartimento di Ingegneria, Università degli Studi della Campania “Luigi Vanvitelli”, Aversa, Italy. E-mail: ciro.natale@unicampania.it
*
*Corresponding author. E-mail: pa.dilillo@unicas.it
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Summary

Control algorithms of many Degrees-of-Freedom (DOFs) systems based on Inverse Kinematics (IK) or Inverse Dynamics (ID) approaches are two well-known topics of research in robotics. The large number of DOFs allows the design of many concurrent tasks arranged in priorities, that can be solved either at kinematic or dynamic level. This paper investigates the effects of modeling errors in operational space control algorithms with respect to uncertainties affecting knowledge of the dynamic parameters. The effects on the null-space projections and the sources of steady-state errors are investigated. Numerical simulations with on-purpose injected errors are used to validate the thoughts.

Keywords

Task-priority controlOperational space controlModel uncertainties
Type
Article
Information
Robotica , Volume 39 , Issue 9 , September 2021 , pp. 1642 - 1653
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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